System and method for subsurface cable insertion for the protection of underground assets

ABSTRACT

Systems and methods for trenchless placement of an underground protective network of intertwined cables for protecting buried assets from accidental damage are disclosed. The system includes an apparatus for towing behind a vehicle and laying a plurality of continuous cables directly underground and interweaving the cables to form a cable network. The apparatus includes a plurality of soil rippers mounted at respective radial positions to a rotating carrier. The rotating carrier rotates about an axis that is at least partially normal to the ground surface. The rippers plow through the ground in the direction of vehicle travel and include a cable-feeding guide for directly and continuously feeding cable out underground during operation. In operation, the combined movement of the soil rippers from rotating the carrier and movement in the direction of travel serves to intertwine the cables deposited by respective rippers forming the protective network of intertwined cables.

CROSS-REFERENCE TO PRIOR APPLICATION

This application is a continuation of, and claims priority from, U.S.patent application Ser. No. 16/667,541, titled “SYSTEM AND METHOD FORSUBSURFACE CABLE INSERTION FOR THE PROTECTION OF UNDERGROUND ASSETS”,filed Oct. 29, 2019, now U.S. Pat. No. 10,760,244, granted Sep. 1, 2020,which is hereby incorporated by reference in its entirety.

FIELD OF THE DISCLOSURE

The present disclosure is directed to an apparatus and method forsubsurface installation of structures for protecting underground assetsfrom damage. In one particular arrangement, the present disclosuredescribes a system for subsurface cable insertion and interweaving ofthe cables to provide a structure for protecting buried assets.

BACKGROUND OF THE DISCLOSURE

The security and safety around underground infrastructures, such as oiland gas transportation pipelines, has become an important endeavor. Manystudies show that most damage to pipelines is third-party damage, whichrefers to damage caused by earth working (e.g., using a digger orexcavator) in the vicinity of an existing pipeline, which isinsufficiently spotted or insufficiently protected. The PipelineResearch Council International (PRCI) studies on gas pipelines indicatedthat 40% of pipeline damage incidents are caused by third-party damage.

A high percentage of failures can be attributed to encroachment and thisincreasing trend is expected to increase as remote areas becomeurbanized. This is due to the fact that increases in the population andurbanization lead to an increase in development activities includingconstruction and thus increasing the likelihood of third-party damages.Pipeline failure frequencies in developed areas are four (4) times thatin rural areas.

Today, concrete is used for the protection of buried pipelines.Pre-fabricated or casted on-site, concretes slabs are attractive becauseof their robustness and availability of the material. However, concreteslabs are heavy which implies constraints on the necessary devices(cranes, trucks) and on employees operating the protection, as slabhandling is risky and requires a minimal number of operators. Anotherdrawback is the difficulty in handling concrete slabs duringconstruction as well as maintenance operation.

Polymer slabs provide a number of advantages compared to concrete slabs.In particular, the weight of polymer slabs is significantly less for anequivalent surface of protection. This lightweight advantage leads tosaving cost. Polymer slabs offer increased functionality as well.Installation of polymer slabs and concrete slabs, however, requiresdigging of a trench, wherein the width of the trench is driven by thepipeline diameter. Typically, the width of the trench will range betweenone to two meters. After digging the trench, the slabs are installedfollowed by backfilling the trench.

One alternative to polymer slabs is installation of polymer meshes thatresemble woven netting. Although the mesh solution is less resistantthan the HDPE slab, a mesh can withstand, for example, a force equal to210,000N, which is in general sufficiently robust to protect subsurfacestructures. Protecting subsurface infrastructure with a mesh, however,requires burying a larger mesh than a slab. This is due to theflexibility of the mesh which is compensated through leveraging a largerfriction surface between the protection layer and the soil. Hence, theinstallation of a mesh requires digging of a wider trench than forpolymer slabs.

SUMMARY OF THE DISCLOSURE

According to an aspect of the present disclosure, there is provided anapparatus for trenchless delivery a protective network of intertwinedcables beneath a surface of ground. In particular, the apparatuscomprises a chassis configured to be mounted to a vehicle that, duringoperation, traverses the ground surface in a direction of travel. Theapparatus also includes a rotating carrier supported by the chassis. Therotating carrier is configured to rotate in a first rotational directionabout a rotational axis, which extends generally in a normal directionrelative to the ground surface. The apparatus also includes at least twosoil rippers that are mounted at a top end to the rotating carrier andextend away from the rotating carrier in a downward direction to abottom end. During operation, the rotating carrier is maintained abovethe ground surface and the soil rippers are configured to penetrate theground surface and plow through the ground in the direction of travel.More specifically, each soil ripper includes a cable-feeding guideconfigured to receive a cable from a cable supply, which is providednear the top end of the ripper. The cable feeding guide is configured tofeed the cable out at a point near the bottom end of the ripper. As aresult, the ripper incrementally feeds out the cable at a depth beneaththe ground surface as the ripper plows through the ground in thedirection of travel. Furthermore, as a result of rotation of the carrierand soil rippers and movement of the apparatus in the direction oftravel serves to intertwine the cables deposited by respective rippersand forms the protective network of intertwined cables.

According to an aspect of the present disclosure, there is provided amethod for trenchless delivery of a protective underground network ofintertwined cables beneath a surface of ground. The method comprises thestep of moving, with a vehicle traversing the ground surface, aplurality of soil rippers through the ground in a direction of travel.In particular, the soil rippers are configured to penetrate the groundsurface and plow through the ground. Additionally, the soil rippers aresupported by a rotating carrier at respective radial positions relativeto a rotational axis of the carrier.

In addition, during the step of moving the at least two soil rippersthrough the ground in the direction of travel, the method also includesthe step of rotating the rotating carrier about the rotational axis ofthe carrier, wherein the rotational axis of the carrier extends at leastpartially in a normal direction relative to the surface. In addition,the method also includes the step of feeding out a plurality of cablesunder the surface of the ground using the plurality of soil rippers. Inparticular each soil ripper is configured to continuously feed out arespective cable whereby rotation of the carrier and soil rippers andmovement in the direction of travel intertwines the cables deposited byrespective rippers to form the protective underground network ofintertwined cables.

These and other aspects, features, and advantages can be appreciatedfrom the accompanying description of certain embodiments of thedisclosure and the accompanying drawing figures and claims.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing and other features of the arrangements of the presentdisclosure will be more readily apparent from the following detaileddescription and drawings of an illustrative embodiment of an inventionencompassed by the disclosure.

FIG. 1 is a high-level diagram illustrating an exemplary configurationof a subsurface cable insertion system for protecting buriedinfrastructures according to an embodiment;

FIG. 2A is a perspective view diagram of an exemplary apparatus forsubsurface cable insertion according to an embodiment;

FIG. 2B is a side view diagram of the exemplary apparatus for subsurfacecable insertion of FIG. 2;

FIG. 3A is a perspective view diagram of an exemplary apparatus forsubsurface cable insertion according to an embodiment;

FIG. 3B is a side view diagram of the exemplary apparatus for subsurfacecable insertion of FIG. 4A;

FIG. 3C is a top view diagram of the exemplary apparatus for subsurfacecable insertion of FIG. 4A;

FIG. 3D is a front view diagram of the exemplary apparatus forsubsurface cable insertion of FIG. 4A;

FIG. 4A is a perspective view diagram of an exemplary soil ripper cabledelivery device for subsoil delivery of one cable according to anembodiment;

FIG. 4B is a perspective view diagram of an exemplary soil ripper cabledelivery device for subsoil delivery of four grouped cables according toan embodiment;

FIG. 4C is a perspective view diagram of an exemplary soil ripper cabledelivery device for subsoil delivery of four spaced apart cablesaccording to an embodiment;

FIG. 5A is a schematic diagram showing an exemplary configuration ofintertwined cables delivered into the ground according to an embodiment;

FIG. 5B is a schematic diagram showing an exemplary configuration ofintertwined cables delivered into the ground according to an embodiment;

FIG. 5C is a schematic diagram showing an exemplary configuration ofintertwined cables delivered into the ground according to an embodiment;

FIG. 6 is a schematic diagram illustrating the protective functionprovided by an exemplary configuration of intertwined cables accordingto an embodiment;

FIG. 7A is a schematic diagram illustrating the protective functionprovided by an exemplary configuration of intertwined cables accordingto an embodiment;

FIG. 7B is a schematic diagram illustrating the protective functionprovided by an exemplary configuration of intertwined cables accordingto an embodiment;

FIGS. 8A-8B are charts graphically illustrating the respective positionof cables within a cable network deployed using an exemplary set ofsystem parameters according to an embodiment;

FIGS. 9A-9C are charts graphically illustrating the respective positionof cables within a cable network deployed using an exemplary set ofsystem parameters according to an embodiment; and

FIGS. 10A-10C are charts graphically illustrating the respectiveposition of cables within a cable network deployed using an exemplaryset of system parameters according to an embodiment.

DESCRIPTION OF CERTAIN EMBODIMENTS OF THE DISCLOSURE

By way of overview and introduction, the present application describesdevices and methods relating to constructing an underground protectionstructure for protecting buried assets from accidental damage caused by,for example, an excavator or other such earth working machinery.

Conventional methods for protecting underground assets, such as such aspipelines, electric cabling or fiber optics, includes digging a trenchand then laying down protective concrete slabs, polymer slabs orpre-woven polymer mesh blankets. These approaches require significantdigging, removal of earth from the area where the protective slabs orblankets are to be installed and then backfilling the earth over theprotective structures. As a result, these existing approaches can belabor intensive and costly. Given the drawbacks of existing systems forprotecting underground assets, what is needed are protective systemsthat are more efficiently installed and configured. It is with respectto these considerations that the embodiments herein are disclosed.

The embodiments disclosed herein include systems and methods fortrenchless delivery of a protective network of intertwined high-strengthpolymer cables as well as the resulting underground protection systemcomprising the protective cable network. The system includes a subsoildelivery apparatus (also referred to as a “subsoil intertwiner”), whichcan be towed behind a vehicle such as a tractor, and which delivers thecables at a depth under the soil surface and intertwines the cables toform the protective cable network. The systems and methods forinstalling the cable network and the installed protective cable networkitself, as further described herein, provide beneficial and innovativecharacteristics over existing approaches for protecting undergroundassets from damage including that the system does not require opening orback-filing a trench. Moreover, the protective properties of thedelivered underground protection network can be adapted to applicationrequirements—such as by selectively tuning properties including cablenetwork density, number of physical cable-cable entanglements—and becontrolled by the set-up and operational parameters of the deliverysystem. The protection system described herein minimizes material costsfor cable protection. For instance, instead of delivering slabs, thesystem comprises reinforced ropes or cables and thus requiressignificantly less material, thereby minimizing costs. Moreover, theprotection network can be composed of commercially available cables and,as such, there is no need to manufacture specific equipment such asslab, or mesh. Further, the risks of disrupting cathodic protection ofburied pipelines is significantly decreased as the polymer cablesdefining the cable network are not reinforced with metal and are spacedapart, which better allows the soil's structure to keep continuousconductive properties in the Z direction (which refers to the directionthat is normal to the ground surface or vertical direction).

FIG. 1 is a high-level diagram illustrating an exemplary configurationof a subsurface cable insertion system configured to deliver aprotective network of intertwined cables according to an embodiment.FIG. 1 shows a lateral view of the system 100 including the towingvehicle 105, such as a tractor, for towing the subsoil intertwiner 120as well as the underground asset 110 to be protected. FIGS. 2-3 alsodepict a perspective view and side view, respectively, of the exemplarysubsoil intertwiner 120.

A rotating carrier 130 is the central component of subsoil intertwiner120 and is shown in greater detail in FIG. 2-FIG. 3. As shown, therotating carrier can be supported by a chassis that can include, forexample, one or more stabilizing members 122 suitable for being pulledalong behind the vehicle and maintaining the rotating carrier inposition during operation. The rotating carrier supports a plurality ofsoil rippers 140 located below the rotating carrier. The system furtherincludes spool carriers 150 which carry cable spools of cable 155inserted into the ground by respective soil rippers. As shown, eachspool carrier is rigidly connected to the carrier or respective soilripper, although other spool carrier configurations can be implemented.In one or more embodiment, it can be preferable to use high strengthpolyethylene cables such as Dyneema® 2 cm diameter cables. Dyneema® isan UHMwPE (Ultra High Molecular weight Polyethylene) or HMPE (HighModulus Polyethylene) fiber developed by Royal DSM N.V (Netherlands).These cables (or ropes) for example have a maximum strength of 333,000 Nwhich means this type of cable can withstand a tensile force of 33 tons.Alternative cables can be used depending on the intended application.

The rotating carrier 130 is configured to support at least two soilrippers. In the embodiment shown in FIG. 1-2B, the rotating carriersupports four rippers 140 located at respective radial positions on therotating carrier. As a result, a single rotating carrier can establishan intertwined cable network having a maximum width that corresponds tothe maximum spacing between at least two rippers. Each soil ripper 140is mounted to the carrier near a top-end of the ripper and extends awayfrom the carrier down toward the ground in the vertical direction, whichrefers to the direction that is generally perpendicular to the groundsurface and the direction of forward travel. It should be understoodthat the term ripper is intended to refer to any soil ripping orplow-like device suitable for penetrating the ground to a suitable depthand plowing through the ground so as to incrementally feed out cablebeneath the soil surface directly and without removing the soil.Preferably, the ripper is shaped such that it provides suitable groundripping and cable deploying functionality and such that the ripperpassively maintains a proper orientation for deploying cableirrespective of the rotational motion of the carrier. For example,rippers having a fin shape could be utilized that passively maintain theripper generally in alignment with the vehicle's forward traveldirection despite the rotating carrier moving the ripper from side toside as further described herein.

Each soil ripper 140 is equipped with one or more guides 142 that allowcables to be fed from the cable supply spool 150, which is positionednear the top-end of the ripper, down through the guide and out behindthe ripper at a depth underground. According to a salient aspect of theproposed invention, the rippers are rotatably mounted to the rotatingcarrier by, for example, a cylinder/cylinder mount connection 145,thereby providing rotational freedom for each ripper. In the exemplaryembodiment, the rippers have no axial freedom relative to the carrier130. As such, as the rotating carrier rotates 130, each soil ripperfollows the rotation while remaining parallel to the vehicle's directionof travel. This facilitates ripping. FIG. 4A illustrates the exemplarysoil ripper 140 having a single guide 142 for feeding a single cable.FIG. 4A also illustrates the exemplary cylinder-cylinder connection 145for rotatably connecting the ripper to the carrier 130. As would beunderstood, various mount configurations, such as bearings or bushings,can be used to mount the ripper to the carrier to and provide the ripperwith at least a minimum degree of rotational freedom suitable formaintaining the ripper in a preferred alignment relative to the generaldirection of vehicle travel and irrespective of the rotation of thecarrier.

Returning to FIGS. 1-2B, the rotating carrier 130 rotates around theaxis defined by a rotating shaft 135. The rotation is forced though apower transmission unit 136, which as shown in FIGS. 1-2B, includessystem of mechanical power transmission shafts 137 for receiving powerfrom the towing vehicle and transferring that power into rotation of therotating shaft 135 and carrier 130. As would be understood, the powertransmission unit can include other or additional known powertransmission components that are commonly used in vehicles or heavyequipment for controlling and transferring mechanical power, such asgears, belt drives, shafts, joints, clutches, motors, speed controllersand the like.

The subsoil intertwiner 120 can be configured such that the angle of therotating shaft, p, (also the axis of rotation for the carrier 130) withrespect to the vertical axis, v, can be controllably varied to define a“penetration angle,” p, having an angle between 10 and 45 degrees, forexample. As shown, the rotating carrier 130 is a generally planarstructure and the height and angle of the carrier 130 and the plane ofrotation for the carrier and supported rippers relative to the groundcan be controllably adjusted using a lever/linkage system 133 connectedto the vehicle 105 and the chassis/stabilizer 122.

In operation, the combination of the vehicle movement in the directionof travel and the rotation of the rotating carrier whilst feeding outthe cables via the rippers 140 serves to place an underground pattern ofintertwined cables. The axis of rotation for the rotating shaft (alsoreferred to as the penetration angle, p) can be varied from the verticalaxis, v, which allows the cables to entangle and results in thesub-surface deployment of an intertwined network of cables, as furtherdescribed below in connection with FIG. 5A.

Variations to the exemplary subsoil intertwiner 120 configuration can beimplemented to achieve different cable network structures havingparticular protective properties. For example, as shown in FIGS. 4B-4Cthe rippers can be configured to include systems for multi-cabledelivery, rather than a single cable delivery configuration shown inFIG. 4A. For example, FIG. 4B is a perspective view diagram of anexemplary soil ripper cable delivery device 140 b configured for subsoildelivery of four grouped cables, wherein the guide 142 b is configuredto feed out the group of four cables at the same depth underground andin a side-by-side arrangement. By way of further example, FIG. 4C is aperspective view diagram of an exemplary soil ripper cable deliverydevice 142 c, wherein the guide 142 c is configured to feed out the fourcables at the same depth but spaced apart in the width-wise direction.

Other possible variations to the basic subsoil intertwiner configurationcan include combining multiple rotating subsoil intertwiners to providea wider and more complex intertwined cable structure. For example, FIG.3A is a perspective view diagram of an exemplary apparatus forsubsurface cable insertion 320 according to an embodiment that includestwo counter-rotating carriers 330 a and 330 b. FIG. 3B is a side viewdiagram of the exemplary apparatus for subsurface cable insertion ofFIG. 3A. FIG. 3C is a top view diagram and FIG. 3D is a bottom-frontperspective view diagram of the exemplary apparatus for subsurface cableinsertion of FIG. 3A, wherein the cable spools have been omitted. Asshown in FIGS. 3A-3D, the double-counter-rotating delivery device 320comprises two of the subsoil delivery devices described above that arearranged side-by-side. The two subsoil delivery devices can be linked,for instance, supported by the same chassis structure 322. Additionally,the two subsoil delivery devices can be driven by one or more powertransmission units such that they are configured to counter rotate insync.

As noted, in operation, the combination of the vehicle movement in thedirection of travel and the rotation of the rotating carrier whilefeeding out the cables via the rippers 140 provides an undergroundpattern of intertwined cables. Furthermore, the axis of rotation for therotating shaft (penetration angle, p) can be varied from the verticalaxis, v, which allows the cables to entangle and facilitates thesub-surface deployment of an intertwined network of cables, as furtherdescribed below in connection with FIG. 5A.

Furthermore, it can be appreciated that the configuration of the subsoilintertwiner(s) and other operating parameters, such as the rate at whichthe cables are laid, penetration angle and rotation speed, can bedefined to achieve different protective cable network configurations,cable density and other protective structure features. As would beunderstood, these parameters can be set prior to operation of the systemand/or dynamically adjusted during operation. As would be understood,computer, electronic and/or mechanical control systems can also be usedto set and adjust the operating parameters of the system 100.

For instance, the system 100 can include a control computer (not shown)that interfaces with other electronic and electro-mechanical devices(not shown) that facilitate coordinated operation of the subsoilintertwiner 120 and the vehicle 105. The control unit can be anysuitable computing device and can include a power source (e.g., battery)a processor, a user interface (e.g., a display and user input deviceslike keyboards, touchscreen interface and other such input devices), anon-transitory computer readable storage medium such as computer memoryor a computer hard drive. The control unit can also include instructionsin the form of software code stored in the storage medium and that isexecutable by the processor. The instructions, when executed by theprocessor, can configure the control unit to control the operation ofthe subsoil intertwiner and vehicle by processing sensed data,processing stored instructions, and/or processing control instructionreceived from a system operator either prior to or during operation ofthe system. The control unit further include various analog and digitalinput and output connections that enable the control unit to interfacewith other electronic devices that facilitate operation of the subsoilintertwiner and/or the vehicle. For example, the other electroniccomponents can include position sensors for measuring the orientation,angle, acceleration, rotational speed and/or position of the rotatingcarriage 130. The control unit can also interface with the vehicle powertransmission unit to control the speed of the rotation of the carriageas well as the speed of the vehicle in the direction of travel. Thecontrol unit can also interface with the cable feeding devices tocontrol the speed at which the cables are fed out underground as afunction of the speed of vehicle and rotational speed of the carriage.

Features and functionality of the exemplary underground asset protectionsystems comprising the protective network of intertwined high-strengthpolymer cables and the methods for creating such protection systemsusing the exemplary embodiments of the subsoil intertwiner apparatuseswill be further appreciated in view of the following discussion of theexemplary cable networks illustrated in FIGS. 5A-7B and with continuedreference to FIGS. 1-4C.

FIG. 5A is a conceptual top-view illustration of the subsurface cablenetwork 500A resulting from the combined vehicle movement in thedirection of travel 510 and rotational movement 515 of the singlerotating carrier 130 of the subsoil intertwiner 120 described inconnection with FIGS. 1A-2C. FIG. 5A shows the rotational position ofthe carrier 130 and location of the four cables deployed by respectiverippers (not shown) at time intervals t0-t4. FIG. 5B is a similarconceptual illustration of the subsurface cable network 500B resultingfrom the combined vehicle movement in the direction of travel 510B andcounter rotational movement 515B and 515B′ of the two carriers 330B and330A of the exemplary subsoil intertwiner 320 shown and described inconnection with FIGS. 3A-3D. FIG. 5A also shows the rotational positionof the carriers and location of the cables deployed by respectiverippers (not shown) at time intervals t0-t7. FIG. 5C is a similarconceptual illustration of the subsurface cable network 500B resultingfrom the combined vehicle movement in the direction of travel 510C andcounter rotational movement 515C and 515C′ of the two carriers 330B and330A of the exemplary subsoil intertwiner 320 shown and described inconnection with FIGS. 3A-3D, but modified to include rippers eachconfigured for subsoil delivery of four cables each, as shown anddescribed in connection with FIG. 4B or FIG. 4C.

The establishment of an underground protective cables network having aprescribed density, entanglement and space between cables can becontrolled by setting of one or more of a variety of parameters. Thedensity of the underground weaving configuration of the cable network,for example, can be defined by subsoil intertwiner configurationparameters, and dynamic operational parameters. Configuration parameterscan include, for example: the number and rotating carrier(s); thediameter of the rotating carrier(s); penetration angle (p), which candefine the path of the rippers in one or more of the x-y and zdirections; number of soil rippers; number of high strength cables persoil ripper and, where multiple cables are fed out by a ripper, thespacing of the cables in one or more directions; and the radial positionof the soil rippers on the rotating carrier relative to the rotationalaxis, which defines the spacing of the soil rippers in one or moredirections (e.g., x and y). Dynamic operational parameters can include,for example: speed of the vehicle towing the subsurface delivery system;and rotation speed of the rotating carrier.

FIG. 6 provides a two-dimensional top-view illustration of a network ofcables 600 laid, for example, using the four-cable, single rotativecarrier configuration shown and described in connection with FIGS. 1A-2Cand shown in FIG. 5A. FIG. 6 conceptually illustrates the entanglementpoints within the deployed network in practice. As shown, a verticalpressure at point A will translate into a vertical opposite reactionforce and an increase friction force at point B and point C.

The underground network presents numerous points of entanglement, whichmeans that each motion imposed to one cable, will cause this cable toget in contact with another cable located underneath the first cable.The second will provide a reaction force (vertical and tangential due toincreased friction force). as which will be transferred to the firstcable and ultimately to the excavator bucket. As can be appreciated,when used as a protective barrier, the effort exerted by an excavator onone protection cable has the effect of moving the cable and resistancefrom the friction of the cable surface while the soil opposes thismovement. In order to further assist in limiting the horizontal motionof a cable, cables can also be anchored at their respective extremities.

FIGS. 7A and 7B similarly illustrate the entanglement points betweencables within an exemplary network of cables 700 that is similar to thenetwork shown in FIG. 5C. FIG. 7A illustrates, for example, primaryentanglement points (circled) within the network 700 that are stressedwhen a vertical pushing force from an excavator bucket is applied on thenetwork at the location identified by the arrow. FIG. 7B illustrates,for example, secondary entanglement points (circled) within the network700 that are stressed when a vertical pushing force from an excavatorbucket is applied on the network at the location identified by thearrow. It is thus expected that loading a cable of the network will leadto some deformation of the cable network, however the reaction force tothis deformation increases exponentially as the number of entanglementpoints that are activated increases. As a result, the greater thepenetration force of the digger bucket, the larger the reaction forceprovided by the network. As can be appreciated, the protection providedby a network increases as a function of the density of the network.However, in practice and depending on the application requirements,increasing the density of the network is not always necessary orworthwhile. In many applications, the effect of entanglement of even arelatively lower density cable network can often provide suitableprotection for buried assets. Moreover, a higher density networkrequires more cabling and a subsoil delivery system with many morerippers can result in a lower execution time and require more energy torip the ground. Accordingly, the exemplary embodiments described hereinprovide systems and methods for subsurface delivery of a protectivecable network that can be adapted to suit the specific requirements ofthe application (e.g., desired protective properties of the network) inview of practical limitations and costs.

As noted, various parameters and mathematical relationships define therespective positions of the cables deployed using the exemplary systemsand the resulting protective cable network. More specifically, theunderground position of each cable is driven by the trajectory of thecorresponding cutter and the trajectory of each cutter depends on:

a=radius of rotating carrier (e.g. 0.8 m)

b=rotation speed of the carrier (e.g. 0.25 rad/s)

c=speed of the truck (e.g. 0.5 m/s)

d=Y coordinate of carrier's center (e.g. 0.8 m)

e=maximum vertical distance between cables (e.g. 0.15 m). tis parameteris driven by the angle of the rotating shaft with the vertical axis.

f=average depth for cables installation (e.g. −0.5 m)

φ₁, φ₂ and φ₃=constants defining the angular position of one cutter withrespect to the rotating carrier center, at to.

The resulting 3D parametric equation for one cable is expressed as:

$\begin{matrix}{{f\left( {X,Y,Z} \right)} = {X = {{a\;*{\cos\left( {{b*t} + \varphi_{1}} \right)}} + {c*t}}}} \\{Y = {d + {a*\;{\sin\left( {{b*t} + \varphi_{2}} \right)}}}} \\{Z = {{{- e}*\;{\sin\left( {{b*t} + \varphi_{3}} \right)}} + f}}\end{matrix}$

Extending this example to model the location of two intertwining cablesdeployed using one rotative carrier where the respective rippers arespaced apart 180 degrees on the single carrier, the position of cable 1and 2 are expressed by the following sets of equations.

Cable 1

X=0.8*cos(0.25*t-pi/4)−0.5*t

Y=0.8+0.8*sin(0.25*t−pi/4)

Z=−0.15*sin(0.25*t+pi/4)

Cable 2

X=0.8*cos(0.25*t+3*pi/4)−0.5*t

Y=0.8+0.8*sin(0.25*t+3*pi/4)

Z=−0.15*sin(0.25*t+5*pi/4)

FIG. 8A is a chart graphically illustrating the respective position ofexemplary cables 1 and 2 in the x, y and z axis, as deployed accordingto the aforementioned parameters. FIG. 8B is a chart graphicallyillustrating the position of exemplary cables 1 and 2 in z axis (i.e.,depth), as deployed according to the aforementioned parameters.

FIGS. 9A-9C are charts graphically illustrating the respective positionof cables within an exemplary cable network formed using a two rotatingcarrier system in which both carriers are rotated in the same rotationaldirection and wherein each carrier supports four evenly spacedcable-deploying rippers. In this particular example, carriers 1 and 2are operated according to the following parameters: Carrier 1 (a=0.8 m;b=0.25 rad/s; c=0.5 m/s; d=0.8 m; e=0.15 m; f=−0.5 m) and Carrier 2(a=0.8 m; b=0.25 rad/s; c=0.5 m/s; d=0.8 m; e=0.15 m; f=−0.5 m). FIG. 9Ais a chart graphically illustrating the respective position of the eightcables, in the x, y and z axis, as deployed according to theaforementioned parameters. FIG. 9B is a chart graphically illustratingthe position of the cables in the x-y axis, as deployed according to theaforementioned parameters. FIG. 9C is a chart graphically illustratingthe position of the cables in the z axis (i.e., depth), as deployedaccording to the aforementioned parameters.

FIGS. 10A-10C are charts graphically illustrating the respectiveposition of cables within an exemplary cable network formed using a tworotating carrier system in which the carriers are counter-rotated andwherein each carrier supports four evenly spaced cable-deployingrippers. In this particular example, carriers 1 and 2 are operatedaccording to the following parameters: Carrier 1 (a=0.8 m; b=0.25 rad/s;c=0.25 m/s; d=0.6 m; e=0.15 m; f=−0.5 m) and Carrier 2 (a=0.8 m; b=−0.25rad/s; c=0.25 m/s; d=−0.6 m; e=0.15 m; f=−0.5 m). FIG. 10A is a chartgraphically illustrating the respective position of the eight cables, inthe x, y and z axis, as deployed according to the aforementionedparameters. FIG. 10B is a chart graphically illustrating the position ofthe cables in the x-y axis, as deployed according to the aforementionedparameters. FIG. 10C is a chart graphically illustrating the position ofthe cables in the z axis (i.e., depth), as deployed according to theaforementioned parameters.

The example simulations described above in connection with FIGS. 8A-10C,illustrate that the parametric function f(X,Y,Z) is usable to model thenetwork pattern as a function of various device configuration andoperational speed parameters. It can be further appreciated that thecontrollable variables allow for adjusting the cable pattern to thedesired functionality. For instance, a lower vehicle speed, c, resultsin a denser underground network. See for example, the exampleillustrated in FIGS. 9A-9C (c=0.5 m/s) versus the example illustrated inFIGS. 10A-10C (c=0.25 m/s). Additionally, an interlocking rotativecarrier, as shown in FIG. 8A, allows to reduce parameter d, increasingthe density of the network, while narrowing the width of the protectionnetwork. It can be further appreciated that counter rotative carriersallow to define a quasi-symmetric pattern (see e.g., FIGS. 10A-10C).

At this juncture, it should be noted that although much of the foregoingdescription has been directed subsurface cable delivery systems andmethods for protecting buried assets, the systems and methods disclosedherein can be similarly deployed and/or implemented in scenarios,situations, and settings far beyond the referenced scenario forprotecting buried assets.

It is to be understood that like numerals in the drawings represent likeelements through the several figures, and that not all components and/orsteps described and illustrated with reference to the figures arerequired for all embodiments or arrangements.

The flowchart and block diagrams in the figures illustrate thearchitecture, functionality, and operation of possible implementationsof systems, methods and computer program products according to variousembodiments and arrangements. In this regard, each block in a flowchartor block diagrams as it relates to a computer implemented method canrepresent a module, segment, or portion of code, which comprises one ormore executable instructions for implementing the specified logicalfunction(s). It should also be noted that, in some alternativeimplementations, the functions described herein or noted in a blockdiagram may occur out of the order noted. For example, two blocks oroperations shown or described in succession may, in fact, be executedsubstantially concurrently, or may sometimes be executed in the reverseorder, depending upon the functionality involved. It will also be notedthat functional blocks or operations can, where applicable, beimplemented by special purpose hardware-based systems that perform thespecified functions or acts, or combinations of special purpose hardwareand computer instructions.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a”, “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising”, when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof.

Also, the phraseology and terminology used herein is for the purpose ofdescription and should not be regarded as limiting. The use of“including,” “comprising,” or “having,” “containing,” “involving,” andvariations thereof herein, is meant to encompass the items listedthereafter and equivalents thereof as well as additional items.

The subject matter described above is provided by way of illustrationonly and should not be construed as limiting. Various modifications andchanges can be made to the subject matter described herein withoutfollowing the example embodiments and applications illustrated anddescribed, and without departing from the true spirit and scope of theinvention encompassed by the present disclosure, which is defined by theset of recitations in the following claims and by structures andfunctions or steps which are equivalent to these recitations.

What is claimed is:
 1. An apparatus for trenchless delivery ofintertwined cables beneath a surface of ground by a vehicle, theapparatus comprising: a carrier, the carrier being configured to becoupled to the vehicle so that, during operation, the carrier traversesthe ground surface in a direction of travel of the vehicle; at least twosoil rippers mounted to the carrier; and a cable feeding guidepositioned near a bottom end of each soil ripper; wherein, duringoperation, the soil rippers are configured to plow through the ground inthe direction of travel of the vehicle, and wherein each soil ripper isconfigured to feed out a respective cable under the surface of theground via the cable feeding guide, and wherein the carrier isconfigured to rotate the soil rippers about a rotational axis wherebyrotation of the soil rippers and movement in the direction of travelinterweaves the cables being fed out by the soil rippers.
 2. Theapparatus of claim 1, wherein the rotational axis extends generally in avertical direction relative to the ground.
 3. The apparatus of claim 1,further comprising: a linkage supporting the carrier, wherein thelinkage is configured to controllably adjust an angle of the rotationalaxis relative to the ground.
 4. The apparatus of claim 1, wherein thesoil rippers are positioned at respective radial positions relative tothe rotational axis.
 5. The apparatus of claim 1, further comprising apower transmission unit configured to rotate the soil rippers at aprescribed rotational speed.
 6. The apparatus as in claim 1, wherein thesoil rippers are rotatably mounted to the carrier.
 7. The apparatus asin claim 6, wherein the carrier is configured to rotate about therotational axis thereby rotating the soil rippers about the rotationalaxis.
 8. The apparatus of claim 1, further comprising a second carrier,wherein the carrier and the second carrier are mounted to a chassis. 9.The apparatus of claim 1, wherein the cable feeding guide of each soilripper is configured to receive a cable from a cable supply to feed outnear the bottom end of each soil ripper.
 10. A method for trenchlessdelivery of intertwined cables beneath a surface of ground, comprising:moving, with a vehicle traversing the ground surface in a direction oftravel, a plurality of soil rippers through the ground in the directionof travel, wherein the soil rippers are configured to penetrate theground surface and plow through the ground, and wherein the soil rippersare supported by a carrier; and during the step of moving the soilrippers through the ground in the direction of travel, rotating the soilrippers about a rotational axis; and feeding out a plurality of cablesunder the surface of the ground using each respective soil rippers,wherein each respective soil ripper is configured to continuously feedout a respective cable, whereby the rotation of the soil rippers andmovement in the direction of travel intertwines the cables fed out bythe respective soil rippers.
 11. The method of claim 10, wherein theplurality of cables is fed out at a rate that corresponds to a speed ofmoving in the direction of travel and a rotational speed of the soilrippers.
 12. The method of claim 10, wherein the plurality of soilrippers is moved through the ground in the direction of travel at aspeed defined by a prescribed cable network density.
 13. The method ofclaim 12, wherein the soil rippers are rotated at a rotational speeddefined by the prescribed cable network density.
 14. The method of claim10, further comprising: maintaining, the rotational axis at a prescribedangle relative to the ground surface.
 15. The method of claim 10,wherein the step of feeding out a plurality of cables comprises: feedingout a respective plurality of cables by each soil ripper.
 16. The methodof claim 10, further comprising: anchoring at least one cable among theplurality of cables at one or more ends thereof.